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7/24/2019 pptvkdsmvds kdsk

1/32

CONTEN

T

Introduction

Literature Survey

Functional Block

Diagram

Serial JPEG Camera

PIC Controller

Robotic Arm

So t!are


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I%&R'D(C&I'

%


3/32

LITERATURE

SURVEY

CONVENTIONAL METHODS

&raditionall

y)

mo$t o t#e indu$tria

l

!ork i$ done by t#eo"erator manually* 'ne o t#e ma+or and t#e mo$t

commonly

"er ormed !ork i$ "icking and "lacing o +ob$ rom

$ource to

de$tination*


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5/32

EXISTIN

G

METHOD

S

Color Sorting Sy$tem

!it#

Robot Arm !ill be

o"erated

u$ing -. bit PIC *

Detect$ t#e ob+ect byu$ing

"ro/imity $en$or t#at

#adbeing integrated !it#

t#e

robot*


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CONSTRAINTS

Color Sen$or$ arelimited to

certain color$*

%ot a colli$ion

ree*0inematically

ea$ible"at# doe$n1t

e/i$t$*


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oooooooooo

t o an

Objectives : $ort t#e ob+ect according to t#eir color u$ing a

$erial

$ort t#e ob+ect to t#e $tation accordingl y*

camer

a

How effective

o !

"!ojec

t

is###

Fa$ter*Reliable*Accurat

e* Lo!co$t*

Increa$ed "roduction

le/ibility*a$$et

utili2ation*

'"timi2e t#e "roductivity and


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$UNCTIONAL

%LOC&

DIAGRA

MColor

Identi3c

ation ,otor

Driver

Image

Ac4ui$itio

n

(nit

Inter acin

g

circuit

Robotic

Arm 5

Gri""er

,emory

,otor

Driver

Deci$ion,aking

5

ControlCA,ERA

AR, ,'D(LEPIC


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'IC

( 'e!i")e!*+

I,te!f*ce

Co,t!o++e!

$i-: PIC-6F789


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FEATURES

8 bit pipelined RISC processor 0 to 40MHz clock

ReprogrammableHigh speed and high

performanceInstruction set simplicity

o! po!er consumption"# Instruction set


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$i-: Pin de$cri"tion o

PIC-6F789


12/32

RO%OTI

C

ARM

Reprogrammablemanipulator

Multifunctional

$i-: Robotic

arm

'ARTS MOVEMENTS

%*se Rot*te

+eft.!i-)t

E+bow Move

"./ow,G!i""e! O"e,.c+ose


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Robotic A!0 1

2o!3i,-

:e u$e DC Gear motor ba$ed Robotic arm*

Gear

motor

driver$

electric

are com"lete motive orce $y$tem$

con$i$ting o

motor) reduction gear and a drive*

an

e$e motor$ are connected

to,otor Driver circuit$* e$e driver$

are able to e iciently controlmotor$"eed) im"rove mac#ineautomationand accurately control $"eedand tor4ue*


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Ge*

!

*,

/

DC

Moto!

Gear$ !ork$ on "rinci"le o mec#anical

advantage*

:orm gear i$ not back drivable*Ine$pensi%e& small and po!erful motors'It is %ersatile'(fficiency rating')peration'


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GRI''E

R A mec#anical gri""er i$ an end e ector t#at u$e$mec#anical

inger$ actuated by a mec#ani$m to

gra$"

an ob+ect*

S"ring loaded ollo!er and

Cam

i$ u$ed*

Re"eatability

andaccuracy*

$i-:


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L456 MOTOR

DRIVER e L 9;< i$ a integrated circuit motor driver t#atcan be

u$ed or $imultaneou$) bi directional control o t!o

$mall

motor$* e L9;< come$ in a $tandard -.="in) dual=

in line

integrated circuit "ackage*

ENABLE DIR A DIR B FUNCTION

H H *urn Right

H H *urn eft

H + H H + ,ast stop

(ither (ither Slo! Stop


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-C M)*)R ./"- M)*)R

-RI (R

S+ ,o7 MOTOR Co,,ectio,

toco,t!o++e!

Co,,ectio,

to /!ive!

S"ecific*tio,

A,-+eof

0ove0e,t- Pick

and

relea$e

PB7) PB8 -A) 9A ->>RP,)-9?

9 ("and

do!n

PB.) PB@ -B) 9B ->>RP,)-9?

-6>degree

< Rotational

PB9) PB< -B) 9B .>RP,)-9?

degree


18/32

Proteu

$

$i-: ISIS Proteu$ Simulation


19/32

PR'&E(S i$ a CAD a""lication) com"o$ed o

t#ree

module$

ISIS Intelligent Sy$tem !it# In"ut

Sc#ematic

i$ t#e $c#ematic ca"ture module*

?S, ?irtua

l

Sy$te

m

,odelling i$ t#emodule o $imulation) including

PR'SPICE*

ARE

S

Advance

d

Routin

g

,odelling

i$

t#e

module

PCB *

or "er ormin

g

"rinted circui

t

board


20/32

ALGORITH

MSte"

8

Ste"4Ste"6Ste"9

:

:

:

Sync camera !it# board

Initiali2e camera or re$olution and

$i2eSend command$ to camera to take$na"$#ot$

: Read eac# "i/el) convert it to 6

bit

ormat

Ste

"Ste"

Ste

;

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